eigen_kdl.h

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/*
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/*
 * Author: Adam Leeper, Stuart Glaser
 */
 
#ifndef EIGEN_KDL_CONVERSIONS_H
#define EIGEN_KDL_CONVERSIONS_H
 
#include <Eigen/Core>
#include <Eigen/Geometry>
 
#include <kdl/frames.hpp>
 
namespace tf {
 
void quaternionKDLToEigen(const KDL::Rotation &k, Eigen::Quaterniond &e);
 
void quaternionEigenToKDL(const Eigen::Quaterniond &e, KDL::Rotation &k);
 
void transformKDLToEigen(const KDL::Frame &k, Eigen::Affine3d &e);
 
void transformKDLToEigen(const KDL::Frame &k, Eigen::Isometry3d &e);
 
void transformEigenToKDL(const Eigen::Affine3d &e, KDL::Frame &k);
 
void transformEigenToKDL(const Eigen::Isometry3d &e, KDL::Frame &k);
 
void twistKDLToEigen(const KDL::Twist &k, Eigen::Matrix<double, 6, 1> &e);
 
void twistEigenToKDL(const Eigen::Matrix<double, 6, 1> &e, KDL::Twist &k);
 
void vectorKDLToEigen(const KDL::Vector &k, Eigen::Matrix<double, 3, 1> &e);
 
void vectorEigenToKDL(const Eigen::Matrix<double, 3, 1> &e, KDL::Vector &k);
 
void wrenchKDLToEigen(const KDL::Wrench &k, Eigen::Matrix<double, 6, 1> &e);
 
void wrenchEigenToKDL(const Eigen::Matrix<double, 6, 1> &e, KDL::Wrench &k);
 
} // namespace
 
#endif